ES 421Robotics

Information Sheet

• Instructor: Muhammad Aqeel AslamInstructor: Muhammad Aqeel Aslam

• Office hours: Office hours: Thursday 12:15-15:30Thursday 12:15-15:30

Email: Email: maqeelaslam@gmail.com

TEXTBOOKTEXTBOOK

• J. L. Fuller, “Robotics: Introduction, Programming, and Projects”, Second Edition, 1998, Prentice Hall, ISBN: 0130955434.

REFERENCESREFERENCES

• John Craig, “Introduction to robotics,3rd Ed.” Prentice Hall, 2005

• David Cook, “Robot Building for Beginners,” 2002, Apress, ISBN: 1893115445.

Course Objectives

At the end of this course, you should be able to:• Describe and analyze rigid motionDescribe and analyze rigid motion.• Write down manipulator kinematics and

operate with the resulting equations• Solve simple inverse kinematics problems.Solve simple inverse kinematics problems.

Syllabus• A brief history of robotics. Coordinates and

Coordinates Inversion. Trajectory planning. Sensors. Actuators and control. Why robotics?

• Basic Kinematics. Introduction. Reference frames. Basic Kinematics. Introduction. Reference frames. Translation. Rotation. Rigid body motion. Velocity Translation. Rotation. Rigid body motion. Velocity and acceleration for General Rigid Motion. Relative and acceleration for General Rigid Motion. Relative motion. Homogeneous coordinates.motion. Homogeneous coordinates.

• Robot Kinematics. Forward kinematics. Link Robot Kinematics. Forward kinematics. Link description and connection. Manipulator description and connection. Manipulator kinematics. The workspace.kinematics. The workspace.

Syllabus (cont.)• Inverse Kinematics. Introduction. Solvability.

Inverse Kinematics. Examples. Repeatability and accuracy.

• Basic Dynamics. Definitions and notation. Laws Basic Dynamics. Definitions and notation. Laws of Motion. of Motion.

• Trajectory PlanningTrajectory Planning• PresenationsPresenations

Policies and Grades

• There will be eight homework assignments, four quizes, one mid-term and one final examinations.

• The test will be close book. The homeworks will count 1.5% each towards the final grade, the quizes will count 2% each toward the final grade, the midterm exam 20%, final exam 60%.

Policies and Grades (cont.)• Collaboration in the sense of discussions is

allowed. You should write final solutions and understand them fully. Violation of this norm will be considered cheating, and will be taken into account accordingly.

• Can work alone or in teams of 4• You can also consult additional books and

references but not copy from them.

The Project

• EXTRA 10% marks on overall performance!• Can work alone or in teams of 2

Outline• Introduction

– What is a Robot?– Why use Robots?– Robot History– Robot Applications

What is a robot?

• Origin of the word “robot”– Czech word “robota”– labor, “robotnik” – workman– 1923 play by Karel Capek – Rossum’s Universal Robots

• Definition: (no precise definition yet) – Webster’s Dictionary

• An automatic device that performs functions ordinarily ascribed to human beings washing machine = robot?

– Robotics Institute of American• A robot (industrial robot) is a reprogrammablereprogrammable, multifunctional multifunctional

manipulatormanipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.

What is a robot?

• By general agreement, a robot is:A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human.

• To qualify as a robot, a machine must be able to: 1) Sensing and perception: get information from its surroundings 2) Carry out different tasks: Locomotion or manipulation, do something

physical–such as move or manipulate objects3) Re-programmable: can do different things4) Function autonomously and/or interact with human beings

Types of Robots• Robot Manipulators

• Mobile Manipulators

Types of Robots

Humanoid

Legged robots

Underwater robots

Wheeled mobile robotsAerial Robots

• Locomotion

Mobile Robot ExamplesHilare II

http://www.laas.fr/~matthieu/robots/

Sojourner Rover

NASA and JPL, Mars exploration

Autonomous Robot Examples

Why Use Robots?

• Application in 4D environments– Dangerous– Dirty– Dull– Difficult

• 4A tasks– Automation– Augmentation– Assistance– Autonomous

Why Use Robots?• Increase product quality

– Superior Accuracies (thousands of an inch, wafer-handling: microinch) – Repeatable precision Consistency of products

• Increase efficiency– Work continuously without fatigue– Need no vacation

• Increase safety– Operate in dangerous environment– Need no environmental comfort – air conditioning, noise protection, etc

• Reduce Cost– Reduce scrap rate– Lower in-process inventory– Lower labor cost

• Reduce manufacturing lead time– Rapid response to changes in design

• Increase productivity – Value of output per person per hour increases

Robot History• 1961

– George C. Devol obtains the first U.S. robot patent, No. 2,998,237.– Joe Engelberger formed Unimation and was the first to market

robots– First production version Unimate industrial robot is installed in a die-

casting machine

• 1962– Unimation, Inc. was formed, (Unimation stood for "Universal

Automation")

Robot History

• 1968– Unimation takes its first multi-robot order from General

Motors.• 1966-1972

– "Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.

Robot History• Shakey (Stanford Research

Institute)– the first mobile robot to

be operated using AI techniques

• Simple tasks to solve:– To recognize an object

using vision– Find its way to the

object– Perform some action on

the object (for example, to push it over)

http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html

Shakey

Robot History• 1969

– Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute.

– Unimate robots assemble Chevrolet Vega automobile bodies for General Motors.

• 1970– General Motors becomes the first company to use

machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.

The Stanford Cart

• 1973-1979– Stanford Cart– Equipped with stereo

vision.– Take pictures from

several different angles

– The computer gauged the distance between the cart and obstacles in its path

Hans Moravec

http://www.frc.ri.cmu.edu/users/hpm/

Robot History• 1978

– The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors.

• 1981– IBM enters the robotics field with its 7535 and 7565

Manufacturing Systems.• 1983

– Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.

Industrial Robot --- PUMA

Installed Industrial Robots

Japan take the lead, why? Shortage of labor, high labor cost

How are they used?• Industrial robots

– 70% welding and painting– 20% pick and place– 10% others

• Research focus on– Manipulator control– End-effector design

• Compliance device• Dexterity robot hand

– Visual and force feedback– Flexible automation

Robotics: a much bigger industry

• Robot Manipulators– Assembly, automation

• Field robots– Military applications – Space exploration

• Service robots– Cleaning robots– Medical robots

• Entertainment robots

Field Robots

Service robots

Entertainment Robots

The Course at a Glimpse: Kinematics

F(robot variables) = world coordinatesx = x(1,, n)

y = y(1,, n)

z = z(1,, n)

• In a “cascade” robot, Kinematics is a single-valued mapping.

• “Easy” to compute.

Kinematics: Example1= , 2=r

1 r 4.50 50o

r

x = r cos

y = r sin

workspace

Inverse Kinematics• G(world coordinates) = robot variables

1 = 1(x,y,z)

1 = 1(x,y,z)

• The inverse problem has a lot of geometrical difficulties

• inversion may not be unique!

Inverse Kinematics: Example

2

1

Make unique by constraining angles

Thank you!